A method for finding the suboptimal control of linear delay systems with a quadratic cost functional using Legendre series is discussed. The state variable, state delay, state rate, and the control vector are expanded in the shifted Legendre series with unknown coefficients. The relation between the coefficients of the state rate with state variable is provided and the necessary condition of op...

This paper studies computational efficiency of suboptimal Model Predictive Control (MPC) with neural models. The algorithm requires solving on-line only a quadratic optimisation problem. Considering a nonlinear polymerisation process, for which the linear MPC algorithm is inadequate, it is shown that the suboptimal algorithm results in closedloop control performance similar to that obtained in ...

In this paper we consider the problem of controlling the rotational motion of a rigid body using three independent control torques. Given a quadratic cost we seek stabilizing state feedback controllers which are suboptimal in the sense that, given a scalar , they guarantee that all motions starting within a specified bounded set result in a cost bounded by . For a special class of cost function...

A particular case of a chattering-free variable structure control (VSC) — the equivalent t-suboptimal control — was recently presented for a mechatronic system with one degree of freedom [1]. In this paper, the same principle reducing the drawbacks of conventional VSC design has been applied to the trajectory tracking control of a non-redundant rigid 3-segment leg dynamics. The efficacy and rob...

This paper presents an application of the suboptimal hybrid model predictive control (HMPC) algorithm previously proposed by the authors to large scale sewer networks. HMPC relies on the on-line solution of mixed integer programs (MIP) that are known to be NP-complete and whose worst case complexity scales exponentially with problem size. Modern MIP solvers are on the other hand highly efficien...